[Aerich]

So, the eye is Malavon's badge, the dove is Perdiem's, the unicorn is Ilmadia's, and the pike is... Marketh's? There are only these four badges in Lower Dorn's Deep. I'm assuming that the woman with viking warriors you referred to was Ilmadia with her fire giants, and no, nothing bad happens if you kill her without dialogue first. Letting Marketh go isn't bad either, as long as you get his badge.

I think you may have missed one or more areas. The following is a detailed list of how to find them, expanding on what Ravager said.

1) Remember the drow in Upper Dorn's Deep? The start of that area is a long bridge with drow and orc archers waiting in ambush. If you go left around the corner, then turn right and go straight, you encounter a small room with more drow in it (top left on your map). Behind them is a door, leading to a cave. The leader of the troops within, Krilag, has a badge.

2) Did you clear out the Aquarium with all the frost salamanders in Wyrm's Tooth? There are slaves in the basement. A slave on the left side near the bookshelves has an Engineering Manual. If you already completed the quest to free the slaves, don't worry, the Manual should still be on the floor - search around.

3) The entrance to the Frost Giant Caverns is in the extreme lower left of Wyrm's Tooth. There is a ruined bridge there. If you have the Engineering Manual, you can fix the bridge and get across to the cave entrance. The frost giant leader has a badge.

4) Nym is in the Svirfneblin village. Near the top left of Lower Dorn's (near an entrance to the minotaur/umber hulk area) is a circular lift. Down below is a gem mine with svirfnebli in it, who give you a quest. If you keep moving along you eventually come to what looks like a deadend passage (top right). Umber hulks burst out, and once you kill them you have access to the village through the holes they leave.